JP2003052768A - Rehabilitation device with reclining bed - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rehabilitation device, with which a patient performs exercises while applying suitable load to the patient by preventing great load from being applied to the patient because of erroneous operation. SOLUTION: In the rehabilitation device provided with a splint 107, an arm 106, an arm part 121 for controlling the arm, a bed 111, a reclining 101 and a reclining part 122, for controlling reclining for performing exercising motions by moving the body, storing the motion of the arm as an exercise pattern and exercising the body with that exercise pattern, the device is provided with a reclining angle detecting part 105 for detecting a reclining angle, a reclining angle storage part 124 for storing the detected angle and a total control part 123 for performing total control on the basis of the stored exercise pattern and the reclining angle.

Description

Detailed Description of the Invention

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rehabilitation device capable of performing training on a bed which can be tilted, among limb drive devices such as a rehabilitation support device and a training device used for recovery of limb function.

2. Description of the Related Art There are conventional rehabilitation devices for the purpose of preventing displacement of the upper body of a patient and reducing the burden on the patient by maintaining a posture in which the head is lower than the lower limbs for a long time. One is disclosed in Japanese Patent Laid-Open No. 2000-325413. According to the rehabilitation device, it is shown that the upper half of the body of the patient is raised by reclining to prevent displacement of the upper body, and the position of the patient's head is raised to allow the patient to take a comfortable posture. Hereinafter, the rehabilitation device will be described with reference to the drawings. FIG. 13 is a side view of a conventional rehabilitation device, and FIG. 14 is a block diagram showing its configuration. In the figure, the reclining 101 is attached to a mount 103 so as to be rotatable around a hinge 102. One end of the electric cylinder 104 is attached to the pedestal 103 and the other end is attached to the reclining 101.
01 can be freely tilted up and down around the hinge 102. In this rehabilitation device, when the reclining 101 is tilted down and the upper body of the patient is raised,
The patient's head is elevated and the patient can assume a comfortable posture. Also, when the arm 106 lifts the lower limb of the patient, a force acts to shift the patient's body to the right in the figure, but if the reclining 101 is inclined, the reaction force received from the reclining 101 by the patient's back balances this force. Therefore, the patient can easily maintain the posture.

However, in the conventional rehabilitation device, the reclining angle is not detected, and the arm is operated to complement the change amount of the reclining angle to change the range of motion of the joint of the patient. Without changing the posture of the upper body without doing so, it was not designed to control the reclining motion and the arm motion in combination. Further, since the reclining unit and the arm unit are not individually controlled and collectively controlled, the load of the patient and the range of motion of the joint, which change depending on the condition of the patient during training, are adjusted only by the arm operation. In addition, since the reclining angle is not stored, it is not possible to detect whether the reclining angle during training is different from the reclining angle during teaching, and it is possible that a large amount of load is placed on the patient by reclining more than during teaching due to an erroneous operation. was there. In addition, since the patient's biological information is not monitored, even if the patient's blood pressure or other value rises during training and the patient may change to a state unsuitable for training, the load applied to the patient will not increase. It was not possible to operate the arm so that it became smaller, or to stop the training or perform other safe operations. The present invention has been made in view of such various problems, detects reclining angles and changes thereof, prevents an unintended large load from being applied to a patient due to erroneous operation, and operates in cooperation with the arm and reclining. It is an object of the present invention to provide a rehabilitation device capable of performing a suitable load on a patient for training by performing the training, and further, performing a training suitable for the patient's condition by monitoring biological information of the patient.

In order to solve the above problems, the present invention provides a splint for holding at least one of the lower limb and the upper limb of a patient, and an arm composed of one or more axes for driving the splint. An arm unit for controlling the arm, a bed on which the patient lies down, a reclining unit that allows the upper half of the patient body to be freely tilted by operating an operation switch, a reclining unit for controlling the reclining unit, and the splint. At least one of the lower limb and upper limb of the patient is moved to perform a training operation, and the movement of the arm at that time is stored in the arm data storage unit as a training pattern, and at least one of the lower limb and the upper limb is stored according to the training pattern. In a rehabilitation device to be trained, a reclining device for detecting a reclining angle between the reclining device and a gantry. And a reclining angle storage unit that stores the detected reclining angle, and an integrated control unit that integrally controls the stored training pattern and the reclining angle. is there. Because it is like this,
The arm operation and the reclining operation can be combined and controlled, and the load on the patient and the range of motion of the joint can be widely adjusted. In addition, the integrated control unit controls the stored reclining angle according to a change in the load applied to the patient during training, and further controls the operation of the arm according to the change in the reclining angle. The integrated control is characterized in that the operation of the arm is controlled according to a change in the angle of the reclining tilted when the operation switch is operated,
The reclining angle storage unit stores a reclining angle detected by the reclining angle detection unit and a predetermined reclining angle allowable range. For this reason, the load on the patient and the change in the range of motion of the joint caused by tilting the patient's upper body during training can be supplemented by the movement of the arm, so the load on the patient can be adjusted to an appropriate value and the range of motion of the joint can be adjusted. Can be adjusted widely. Further, the change of the joint range of motion of the patient caused by the change of the reclining angle is complemented by the arm operation, and the reclining angle can be adjusted without changing the range of motion of the joint of the patient. Also, the reclining angle at the time of teaching and the allowable value of the change in the reclining angle can be known, and it is possible to judge whether the change in the reclining angle is within the allowable range by the difference between the reclining angle at the time of training and the reclining angle at the time of teaching. , The control suitable for the difference becomes possible, and the allowable range can be set stepwise for each training pattern to perform the control suitable for the training step. Further, the present invention, when the training reclining angle exceeds the reclining angle allowable range,
It is characterized in that a warning is issued or one of the above-mentioned controls is performed. Therefore, it is possible to prevent a change in the load on the patient caused by a change in the reclining angle due to an erroneous operation, improve safety, and expand the range of training. Further, the present invention is characterized by comprising a vital sensor input unit for obtaining biometric information of the patient by a vital sensor and a biometric information storage unit for storing the biometric information, wherein the biometric information storage unit has the biometric information. At least one biometric information allowable range is stored in advance for each piece of information, and the reclining is controlled based on the relationship between the biometric information, the biometric information allowable range, and the reclining angle. The biometric information,
It is characterized in that the operation of the arm is controlled on the basis of the allowable range of the biological information and the change in the load applied to the patient during training. Therefore, it is possible to monitor the biometric information of the patient, and the content of the training can be changed according to the change of the biometric information. In addition, the biometric information of the patient can be compared before the training is started and during the training. In addition, by setting the permissible range of changes in biometric information in stages, control can be performed at each stage.If the first permissible value is exceeded, a warning is issued and the second permissible value is exceeded. In this case, it is possible to improve the safety of the patient at the time of training, such as stopping the training in case of failure. Also, the reclining angle should be set according to the patient's condition, such as operating the reclining according to the relationship between the monitoring data of the biometric information and the tolerance set in advance in the biometric information storage unit to adjust the load on the patient. You can In addition, when the monitoring data of the biological information becomes larger than the allowable value set in advance in the biological information storage unit, the operation of the arm is controlled so as to reduce the load on the patient, and the appropriate arm operation according to the patient's condition is performed. I can train.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a rehabilitation device with a reclining bed according to the present invention will be described below with reference to FIGS. FIG. 1 is a side view of a rehabilitation device with a reclining bed according to the present invention. In the figure, the reclining 101 is attached to a mount 103 so as to be rotatable around a hinge 102. The electric cylinder 104 is
One end is attached to the mount 103, and the other end is attached to the reclining 101. And control panel 10
Can be expanded and contracted by 8 and reclining 10
1 can be freely tilted around the hinge 102. The reclining angle detector 105 detects a reclining angle θ between the gantry 103 and the reclining 101. The splint 107 fixes the lower limb of the patient and is rotatably connected to the arm 106.
6 moves a limb 110 of the patient via the splint 107 to perform a training operation. The movement of the arm 106 is momentarily stored in the arm data storage unit 127 to perform a training pattern teaching operation, and thereafter, the taught training pattern is executed to perform training. FIG. 2 is a block diagram showing the configuration of a rehabilitation device with a reclining bed. Compared to FIG. 14 showing a conventional rehabilitation device, an angle detector 105 for detecting a reclining angle, an integrated control unit 123 for integrally controlling the arm 121 and the reclining unit 122, and a reclining angle storage unit 124 are newly provided. By this, the integrated control unit 123 can perform control by combining the arm control and the reclining control, save the reclining angle at the time of teaching and the previous training in the storage unit, and compare the reclining angle at the time of training. It is possible to do. FIG. 8 shows an operation example showing the situation of the reclining 101 and the arm 106 when the reclining angle is changed during the training after the training pattern is taught. If the reclining 101 is raised A degrees when moving the arm 106, the reclining 1
Even if the arm movement is the same as when 01 is not raised, the hip angle of the patient increases by A degrees, so the load on the hip joint increases, but at the time of training, the training pattern is taught in the state of (C). Training in the state reduces the load. By changing the reclining angle in this way, the load on the patient and the range of motion of the joint can be adjusted. 3 to 7 are flowcharts showing a processing procedure in the case of performing reclining control and arm control in combination, which will be described below in order. First, when the mode switching process is started in FIG. 3, (S30) the reclining angle detector 105 detects the reclining angle θ and monitors it. Next (S31), the load applied to the lower limb of the patient is detected from the signals of the force sensor provided in the splint 107 and the sensor incorporated in the drive motor of the arm 106, and the load is monitored. Then, (S32) one of the modes of fixing the reclining angle, manually reclining, performing a reclining operation linked to the load state of the patient, or linking the reclining operation and the arm operation is selected. . (S32)
When fixed reclining angle is selected with, the (S
Proceeding to step 41), it is determined whether the load applied to the lower limb of the patient does not exceed the allowable value stored in the arm data storage unit as a parameter in advance, and whether the load applied to the patient is within the normal range. If YES in that case (S
42) The angle when the training pattern is taught is compared with the angle when the training is performed. Then (S43), it is determined whether or not the reclining angle has changed, and if there is no change (S44), normal training is performed. In the case of NO in (S41) and in the case of NO in (S44), the alarm process is performed in (S45), the alarm is displayed and a warning is given by a buzzer or the like, the arm operation is stopped, and the erroneous operation by the operator is performed. To prevent an increase in the load on the patient. When the manual reclining operation is selected in (S32), (S5 in FIG.
Proceed to 1) and operate the operation switch to start the reclining operation. Next (S52), it is determined whether the load applied to the lower limbs of the patient does not exceed a preset allowable value and is within a normal range. If it is normal (S53), normal training is performed, otherwise (S5).
In 4), the same alarm processing as in (S45) is performed. In this way, the load of the patient and the range of motion of the joint are adjusted, and similarly to the case where the reclining angle is fixed, when the load applied to the lower limbs of the patient exceeds a preset allowable value, alarm processing is performed. When the reclining operation linked to the load on the patient is selected in (S32), (S61) in FIG.
Proceed to to determine if the load on the patient is in the normal range. If normal (S62), the load of the patient for each control cycle is compared, and (S63) it is determined whether the load is larger than the set region. If it is determined in (S61) that it is not normal, the same alarm processing as in (S45) is performed in (S68). If it is determined to be large in (S63) (S63)
64) The reclining is lowered (S67), and the arm is normally operated. If it is not judged to be large in (S63), it is judged in (S65) whether the load is smaller than the set region, and if it is small (S66), the reclining is raised (S67) and the normal operation of the arm is performed. Even when it is not determined to be small in (S65) (S67), the normal operation of the arm is performed. In this way, when the condition of the patient's lower limb changes during training and the load on the lower limb changes, the load on the lower limb of the patient is constantly compared with the stored allowable range, and If it exceeds the value, the reclining is lowered to reduce the load, and if the load on the patient is reduced, the reclining is increased to add the load and the training can be performed at a constant load. The reclining change amount with respect to such a load can be changed by the patient. As shown in FIG. 9, when the interlocking between the reclining operation and the arm operation is selected in (S32), the crotch angle of the patient is increased when the reclining is raised in order to prevent blood from rising on the patient's head. The change of the load on the patient is complemented by changing the arm operation to make it constant. As modes of complementation, there are hip joint angle complementation that keeps the patient's hip joint motion range constant as shown in FIG. 9C and load complementation that keeps the load on the patient constant. The operation when the interlocking of the reclining operation and the arm operation is selected will be described with reference to the flowchart of FIG. 7. First, the reclining operation is performed by the operation switch (S71) and the load applied to the patient is set to a predetermined value. It is determined whether the value is within the normal range. If normal (S72), the amount of change in the reclining angle is detected, and (S73) mode is selected. When it is determined in (S71) that it is not normal, the same alarm processing as in (S45) is performed in (S82). When the hip joint angle complementing mode is selected in (S73), the reclining change angle is calculated in (S74),
(S75) The reclining change angle is added to the arm motion trajectory (S81), and the arm motion is performed on the calculated trajectory. When the load supplement mode is selected in (S73) (S76), the load of the patient for each control cycle is compared (S77).
It is determined whether the load is larger than the set area. If it is determined to be large, (S78) the motion trajectory of the arm that reduces the load on the patient is calculated, and (S81) the arm motion is performed on the calculated trajectory. If it is not judged to be large in (S77), it is judged whether the load is smaller than the set area (S79), and if it is small (S80), the arm motion trajectory that increases the patient's load is calculated, and (S80)
81) The arm operation is performed on the calculated trajectory.
If it is not determined to be small in (S79) (S81), the arm operation is performed on the trajectory calculated up to that point. The outline of the above operation will be described. When the reclining is raised, the arm is moved to make the crotch angle of the patient constant and the load change of the patient constant. At this time, in the hip joint angle complementing mode, the amount of change in the reclining angle is calculated, and the amount of change is added to the movement trajectory of the arm to keep the movement range of the hip joint constant. In the load supplement mode, the load on the patient is kept constant by reflecting the change in the load due to the change in the reclining angle on the arm motion based on the preset amount of change in the arm motion with respect to the load. In this way, a wide range of training can be performed by detecting and storing the reclining angle, controlling the reclining, and controlling by combining the arm operation and the reclining operation. Next, a second embodiment of the present invention will be described with reference to FIGS. 10 is different in that a vital sensor 129 for monitoring biological information of a patient is added to the rehabilitation device with a reclining bed shown in FIG. 1, and FIG. 11 is a block diagram showing the configuration thereof.
9, vital sensor input unit 125, biometric information storage unit 12
The difference is that 6 is added. The biometric information of the vital sensor 129 is taken into the vital sensor input unit 125, and the biometric information thereof is stored in the biometric information storage unit 126, which enables rehabilitation using the biometric information. FIG. 12 is a flowchart showing a processing procedure of a reclining operation using blood pressure. When the reclining operation using blood pressure is started (S91), the blood pressure of the patient is first monitored at a preset interval, and (S92) it is determined whether the monitored blood pressure value is within a predetermined allowable range. To be done. (S93) If the blood pressure is within the normal range, comparison with the previous measured value is performed, and (S94) it is determined whether the blood pressure is higher than the set region. If it is determined in (S92) that it is not within the normal range (S99), the training is stopped, and alarm processing is performed such as notifying the surroundings by an alarm display or a buzzer. If it is determined to be high in (S94), (S95) the biometric information storage unit 1 is set in advance as a parameter.
Based on the change amount of the reclining angle with respect to the change amount of blood pressure stored in 26, the reclining is lowered,
(S98) The arm is normally operated. (S94)
If it is not determined that the blood pressure is higher than the set value (S9
6) It is judged whether the blood pressure is lower than the set area,
(S97) If it is low, raise the reclining (S9
8) The arm normally operates. If it is not determined to be low in (S96), the normal operation of the arm is performed as it is (S98). The load on the patient and the range of motion of the joint due to the change in the reclining angle can be adjusted by interlocking the reclining operation and the arm operation shown in FIG. In this manner, the reclining angle is changed according to the change in blood pressure to adjust the load on the patient, and the training can be performed while maintaining the patient's health condition. Further, by combining the reclining operation and the arm operation of the first embodiment, the load of the patient can be adjusted in various combinations, and the training suitable for the patient based on the biological information of the patient can be realized. .

As described above, according to the rehabilitation device with a reclining bed according to the first aspect, the arm operation and the reclining operation can be combined and controlled by integrally controlling the arm portion and the reclining portion. Therefore, the load on the patient and the range of motion of the joint can be widely adjusted. According to the rehabilitation device with a reclining bed described in claim 2, the load applied to the patient during training can be adjusted to an appropriate value by tilting the upper body of the patient by controlling the reclining.
Further, the load of the patient and the change of the range of motion of the joint caused by the change of the reclining angle are complemented by the operation of the arm, so that the load on the patient and the range of motion of the joint can be widely adjusted. According to the rehabilitation device with a reclining bed according to claim 3, a change in the joint motion range of the patient caused by a change in the reclining angle is complemented by an arm operation, and the reclining angle of the patient is changed without changing the joint motion range of the patient. Adjustments can be made. According to the rehabilitation device with a reclining bed according to claim 4, the reclining angle at the time of teaching and the allowable value of the change of the reclining angle are known, and the reclining angle at the time of training differs from the reclining angle at the time of teaching. It is possible to determine whether the change in the angle is within the allowable range, and it is possible to perform control suitable for the difference. Also, by setting the allowable range stepwise according to the training pattern, control can be performed at each training step. According to the rehabilitation device with a reclining bed according to claim 5, a warning is issued according to the result of the determination according to claim 4, and it is possible to prevent a change in the load on the patient caused by a change in the reclining angle due to an erroneous operation, and thus it is safe. Can be increased. Further, it is possible to select whether or not to perform the control according to the first to fourth aspects in which the reclining operation is incorporated, and it is possible to broaden the range of training. According to the rehabilitation device with a reclining bed described in claim 6, it is possible to monitor the biological information of the patient, and the content of the training can be changed according to the change in the biological information. According to the rehabilitation device with a reclining bed described in claim 7, biological information of a patient can be compared before starting training and during training. Also, by setting the permissible range of changes in biometric information in stages, control can be performed at each stage.If the first permissible value is exceeded, a warning is issued and the second permissible value is set. It is possible to improve the safety of the patient during the training, such as stopping the training when the number is exceeded. According to the rehabilitation device with a reclining bed according to claim 8, the reclining operation is performed according to the relationship between the monitoring data of the biometric information and the allowable value preset in the biometric information storage unit, and the load applied to the patient is adjusted. It is possible to set an appropriate reclining angle according to the state of. Claim 9
According to the rehabilitation device with a reclining bed described in, when the monitoring data of the biological information becomes larger than the allowable value set in advance in the biological information storage unit, the operation of the arm is controlled to reduce the load on the patient, and the patient is controlled. You can train by appropriate arm operation according to the state of.

[Brief description of drawings]

FIG. 1 is a side view of a rehabilitation device of the present invention.

FIG. 2 is a block diagram showing a configuration of a rehabilitation device of the present invention.

FIG. 3 is a flowchart showing a processing procedure of the rehabilitation device of the present invention.

FIG. 4 is a flowchart showing a processing procedure of the rehabilitation device of the present invention.

FIG. 5 is a flowchart showing a processing procedure of the rehabilitation device of the present invention.

FIG. 6 is a flowchart showing a processing procedure of the rehabilitation device of the present invention.

FIG. 7 is a flowchart showing a processing procedure of the rehabilitation device of the present invention.

FIG. 8 is an explanatory diagram of a reclining angle and a load applied to a patient.

FIG. 9 is an explanatory diagram of a reclining angle and a hip joint angle of a patient.

FIG. 10 is a side view of the rehabilitation device according to the second embodiment.

FIG. 11 is a block diagram showing a configuration of a rehabilitation device according to a second embodiment.

FIG. 12 is a flowchart showing a processing procedure of the rehabilitation device of the second embodiment.

FIG. 13 is a side view of a conventional rehabilitation device.

FIG. 14 is a block diagram showing a configuration of a conventional rehabilitation device. 101 Reclining 102 Hinge 103 Frame 104 Electric Cylinder 105 Reclining Angle Detector 106 Arm 107 Sprint 108 Control Panel 110 Limb (Lower Limb) 111 Bed 121 Arm Part 122 Reclining Part 123 General Control Part 124 Reclining Angle Storage Part 125 Vital Sensor Input Part 126 Living Body Information storage unit 127 Arm data storage unit 128 Operation switch 129 Vital sensor

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Claims (9)

[Claims] 1. A splint for holding at least one of a patient's lower limbs and upper limbs, an arm having one or more axes for driving the splint, an arm section for controlling the arm, and a bed on which the patient lies down. And a reclining unit that allows the upper half of the patient's upper body to be freely tilted by operating an operation switch, a reclining unit that controls the reclining, and at least one of the lower limb and upper limb of the patient by the sprint.
Move the one to perform the training operation, and store the movement of the arm at that time as a training pattern in the arm data storage unit,
In a rehabilitation device that trains at least one of the lower limb and the upper limb according to the training pattern, a reclining angle detection unit that detects a reclining angle between the reclining and a gantry, and a reclining angle storage unit that stores the detected reclining angle. A rehabilitation device with a reclining bed, comprising: an integrated control unit that performs overall control based on the stored training pattern and the stored reclining angle. 2. The general control section controls the stored reclining angle according to a change in the load applied to the patient during training, and further controls the operation of the arm according to the change in the reclining angle. The rehabilitation device with a reclining bed according to claim 1. 3. The overall control section according to claim 1, wherein the operation of the arm is controlled according to a change in the angle of the reclining tilted when the operation switch is operated. Rehabilitation device with a reclining bed. 4. The reclining angle storage unit stores a reclining angle detected by the reclining angle detection unit and a predetermined reclining angle allowable range, according to any one of claims 1 to 3. Rehabilitation device with a reclining bed according to any of the above. 5. When training, when the reclining angle exceeds the reclining angle allowable range, a warning is issued, or any one of the controls according to claims 1 to 4 is performed. Rehabilitation device with reclining bed. 6. The vital sensor input unit for obtaining the biological information of the patient by a vital sensor, and the biological information storage unit for storing the biological information, as claimed in any one of claims 1 to 5. Rehabilitation device with reclining bed. 7. The biometric information storage unit stores in advance at least one biometric information allowable range for each of the biometric information in advance. Rehabilitation device with reclining bed. 8. The biometric information, the biometric information allowable range,
The rehabilitation device with a reclining bed according to any one of claims 1 to 7, wherein the reclining is controlled based on the relationship of the reclining angle. 9. The biometric information, the biometric information allowable range,
The rehabilitation device with a reclining bed according to any one of claims 1 to 8, wherein the operation of the arm is controlled on the basis of a change in a load applied to the patient during training.